US7656865B2 - Method for transmission of data telegrams in a switched cyclical communication system - Google Patents
Method for transmission of data telegrams in a switched cyclical communication system Download PDFInfo
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- US7656865B2 US7656865B2 US11/083,943 US8394305A US7656865B2 US 7656865 B2 US7656865 B2 US 7656865B2 US 8394305 A US8394305 A US 8394305A US 7656865 B2 US7656865 B2 US 7656865B2
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Definitions
- the present invention relates to a method for transmitting data messages in a switched cyclical communication system.
- the present invention further relates to a switched cyclical communication system transmitting data messages and to a user of such a communication system.
- a communication system is a system with a plurality of users, which are interconnected by network connections for the mutual exchange of data or the mutual transmission of data.
- the data to be transmitted are dispatched as data messages.
- the data may be combined into one or more packets, and in this combined form are sent over the network connections to the respective receiver.
- this combined form of data is sometimes termed “data packets.”
- transmission of data as used hereinafter is synonymous with the above-described transmission of data messages or data packets.
- Users of a communication system are, for example, central automation devices, programming, configuration and operator units, peripheral devices such as, for example, input/output modules, drives, actuators, sensors, stored program controllers (SPCs) or other control units, computers or machines that exchange electronic data with other machines and, in particular, process data of other machines. Users are also referred to as network nodes or nodes.
- control units refers not only to open and closed-loop control units of all types but also to, for example, coupling nodes (switches) and/or switch controllers.
- switched Ethernets are used as communication systems or data networks.
- Communication systems with transfer rates ⁇ 100 MB/s are usually switched high-performance data networks and are made up of individual point-to-point connections with so-called active nodes or coupling nodes, also referred to as switches, which are switched between the separate users.
- each coupling node has a plurality of ports.
- Each coupling node can be connected to a number of users depending on the number of ports.
- Switches are usually separate devices but can themselves be users. These switches are increasingly integrated into the connected devices or users.
- Internet communication is spontaneous communication, however. That is, in the Internet or Intranet communication, the time and the data volume of a data transfer cannot be predicted. Thus, the potential collision/wait situations in the communication lines (in the case of shared medium data networks) or in the switches (in the case of switched data networks) lead to non-deterministic behavior.
- the related-art system and method for transmitting data through switchable data networks, particularly the Ethernet, is known as isochronous real-time or IRT communication, which allows a mixed operation of real-time critical and non-real-time critical, particularly Internet or Intranet-based data communication.
- the real-time critical communication is planned in advance, such that the send or forwarding instants for all real-time critical data messages to be transmitted are known before the start of data transmission.
- the duration of the segment for transmitting non-real-time critical data is defined automatically by the duration of the segment for transmitting real-time critical data.
- the duration of a transmission cycle is variable but is determined at least once before data transmission, for example, by a control computer, and its length is the same for all users and coupling units of the switchable data network.
- Objects of the present invention include providing an improved method, an improved communication system, and a user of the improved communication system, which allows deterministic data communication without the need to store the planning data of the deterministic communication traffic in all the forwarding switches involved in the communication.
- Illustrative, non-limiting embodiments of the present invention may overcome the above disadvantages and other disadvantages not described above.
- the present invention is not necessarily required to overcome any of the disadvantages described above, and the illustrative, non-limiting embodiments of the present invention may not overcome any of the problems described above.
- the appended claims should be consulted to ascertain the true scope of the invention.
- a method for transmitting data messages in a switched cyclical communication system with a plurality of users interconnected by network connections is provided.
- Each user is configured as a sender and/or receiver of data messages and each user has at least one buffer memory for storing data messages.
- the data messages are transmitted in transmission cycles.
- Each transmission cycle has at least one first segment for transmitting data messages with real-time critical data and at least one additional segment for transmitting data messages with non-real-time critical data.
- the method includes identifying the data messages which contain the real-time critical data, determining the chronological start of the first segment of a transmission cycle within the transmission cycle, ensuring that the transmission of a non-real-time critical data message is completed prior to the start of the first segment of the transmission cycle, and transmitting the real-time critical data messages in the first segment of the transmission cycle.
- a user for a communication system has at least one section that has no branchings and/or no junctions, where the user is configured as at least one of a sender and a receiver of data messages.
- the user has at least one buffer memory storing data messages that are transmitted in transmission cycles. Each transmission cycle has at least one first segment transmitting data messages with real-time critical data and at least one additional segment transmitting data messages with non-real-time critical data.
- the user includes a module identifying the data messages containing real-time critical data, a module determining a chronological start of a first segment of a transmission cycle within the transmission cycle, and a module ensuring that the transmission of a non-real-time critical data message is completed prior to the start of the first segment of the transmission cycle.
- the user includes a module transmitting the real-time critical data messages in the first segment of the transmission cycle.
- a communication system having a number of users is provided.
- Each user of this system has features of the user described above.
- the communication system is composed of one or more sections, such that at least one section has no branchings and/or no junctions.
- the method according to the exemplary, non-limiting formulation of the present invention is particularly efficient for a communication system of this type; that is, a communication system that consists only of sections with no branchings and/or no junctions, i.e., for simple topologies, for example, linear topologies or ring topologies.
- data messages that contain real-time critical data are identified by a unique header identifier.
- a non-real-time critical data message which is queued for transmission in a user prior to the chronological start of the first segment of the transmission cycle, is not transmitted but rather buffered in the buffer memory of the respective user if the transmission of the data message to be sent is not completed by the chronological start of the first segment of the transmission cycle. Consequently, this non-real-time critical data is sent only after the end of the first segment of the transmission cycle.
- the first segment of a transmission cycle is reserved for transmitting real-time critical data messages and does not necessarily start, for example, directly at the beginning of a transmission cycle. For the first segment of the transmission cycle, this ensures that the first segment starts at a fixed predefined instant and that this start is actually guaranteed.
- the respective user monitors the start of the first segment by ensuring that the data transfer of a preceding non-real time critical data message queued for transmission does not extend into the time phase of the first segment. If the non-real time critical data message extends into the first segment, the transmission process of the respective non-real-time critical data message is not started. Instead the respective data message is buffered in the buffer memory of the respective user and transmitted only after the transmission of the real-time critical data has been completed, i.e., after the end of the first segment. Thus, it is ensured that within the time phase of the first segment of a transmission cycle, only real-time critical data messages having the highest priority for transmission or forwarding are transmitted, and therefore permitted to ignore flow control mechanisms.
- the time length of the first segment of the transmission cycle can be fixedly set. This minimizes the respective time segment which is required to send real-time critical data messages and which is known in advance in this case, such that no unnecessary wait times occur during which no data message can be sent.
- the time length of the first segment of the transmission cycle can be automatically adjusted using a time-out procedure.
- a timeout period starts to run, such that the first segment of the transmission cycle is terminated with the elapse of the timeout period. That is, if no transmission start of a real-time critical data message falls within this timeout period, then the first segment has ended. The transmission segment is not terminated if the transmission start of a real-time critical data message falls within the timeout period.
- This timeout procedure ensures that all real-time critical data that are queued for transmission are actually transmitted within the current transmission cycle. At the same time, only the time period within a transmission cycle necessary to transmit the real-time critical data message is used. If, for example, no real-time critical data message is to be sent within a current transmission cycle, the first segment of the respective transmission cycle is terminated immediately at the end of the timeout period. On the other hand, the first segment of the respectively current transmission cycle is extended with the transmission of a real-time critical data message if the start of this transmission process falls within, that is to say before the elapse of, the timeout period.
- the timeout period is restarted. If another real-time critical data message is started prior to the elapse of the timeout period, the first segment of the respectively current transmission cycle is extended until the transmission process has been completed. Thereafter, another timeout period starts to run. This process is continued until a timeout period elapses without a further transmission start of a real-time critical data message falling within this timeout period.
- the first segment of the respective current transmission cycle is terminated.
- the additional segment of the respectively current transmission cycle that is still available until the end of the transmission cycle can be used for the transmission of non-real-time critical data messages, particularly, spontaneous Internet or Intranet data traffic.
- the duration of the timeout period can be set. This makes it possible to adjust the required period as needed.
- free memory space is reserved for buffering the real-time critical data messages in the buffer memory of the respective user.
- the maximum size of the free memory space to be reserved corresponds to the amount of the data or the data messages to be injected at the respective user.
- a marking is set to control the reservation of the free memory space in the buffer memory of the respective user. This marking corresponds to the maximum size of the free memory space to be reserved.
- the respective user accepts real-time critical data messages and/or control diagrams but rejects and/or discards non-real-time critical data messages.
- this maximum required free memory space can be readily calculated locally. Provided that the data transfer rates are the same on the respective network connection paths between the individual users, this maximum required free memory space corresponds to the amount of data or data messages injected locally by the respective users.
- the underlying worst-case assumption is that all locally injected data or data messages are transmitted first, before data or data messages to be forwarded are transmitted.
- This memory space must accordingly be reserved in advance.
- a marking the low water mark provided for flow control—is set. This so-called low water mark is a measure of the free memory space still available in the buffer memory of the respective user. If the buffer memory space falls below this limit, the respective user accepts, and optionally stores and forwards only real-time critical data messages. In addition, data messages used for flow control are still accepted, while all other data messages, particularly, non-real-time critical data messages, are rejected and/or discarded.
- the memory space requirement in the respective buffer memory of the respective users can be reduced to a constant minimum value, which depends on the implementation.
- the length of the reserved time phase of each current transmission cycle within which all the real-time critical data messages are guaranteed to be transmitted results from the volume of the real-time critical data to be transmitted over a connecting link between two users plus the transmission time necessary to establish this connection path.
- the disclosed methods are applicable in automation systems, particularly in packing machines, presses, plastic injection molding machines, textile machines, printing machines, machine tools, robots, handling systems, wood processing machines, glass processing machines, ceramic processing machines and lifting devices.
- FIG. 1 is a block diagram of a linear communication system according to an exemplary, non-limiting embodiment of the present invention
- FIG. 2 is a block diagram of a ring communication system according to an exemplary, non-limiting embodiment of the present invention.
- FIG. 3 is a block diagram illustrating a transmission cycle and the principle of automatically determining a reserved time phase according to an exemplary, non-limiting embodiment of the present invention.
- FIG. 1 shows a block diagram of a linear communication system 38 according to an illustrative, non-limiting embodiment of the invention.
- the depicted communication system 38 represents, for example, a distributed real-time critical automation system.
- the communication system 38 is furthermore a switched communication network, for example, a Real-Time Ethernet.
- This communication system 38 is a cyclically operating system. In other words, in the communication system 38 , data are transmitted in one or more transmission cycles or communication cycles.
- the depicted (in FIG. 1 ) communication system 38 has a plurality of users 1 , 2 , 3 , 4 , and 5 that are configured as both senders and receivers of data messages.
- the users, 1 , 2 , 3 , 4 and 5 can be, for example, computers, other automation devices, such as drives, or separate coupling units, i.e., switches, or even preferably, Real-Time Ethernet switches.
- Each of the users 1 , 2 , 3 , 4 and 5 of the communication system 38 can also have a coupling unit integrated into that user, particularly a Real-Time Ethernet switch. For reasons of clarity, the integrated switches are not depicted in FIG. 1 .
- the switches are used to inject and/or receive and/or forward the data messages that are to be transmitted, and particularly, the real-time critical data messages that are to be transmitted.
- the users 1 , 2 , 3 , 4 , 5 are also referred to as network nodes.
- Each of the users 1 , 2 , 3 , 4 , 5 has at least one buffer memory. For reasons of clarity, in FIG. 1 , only one buffer memory 40 of the user 2 is depicted and identified.
- the users 1 , 2 , 3 , 4 , 5 of the communication system 38 are disposed in a linear arrangement and are interconnected by the network connections 6 , 7 , 8 and 9 .
- the real-time critical data messages are provided with a unique header identifier, for example. These unique headers may be created or generated as the respective message is injected by a user, for instance, user 1 . Identifying the real-time critical data, allows each user or switch to distinguish incoming data messages based on their content and to handle these received messages accordingly when they are forwarded.
- each of the communication or transmission cycles has at least one first segment within the transmission cycle.
- This first segment of the transmission cycle is reserved exclusively for transmitting real-time critical data messages.
- this segment is, for example, located within the respective transmission cycle such that, before the start and after the end of the first segment, additional transmission segments are available within the respective transmission cycle.
- These additional transmission segments are reserved exclusively for non-time-critical communication such as spontaneous Internet data traffic. A more detailed explanation of these transmission segments is provided below in the description of FIG. 3 .
- the user 1 is, for example, a control computer that sends real-time critical data to the user 5 , which can be any type of automation device, particularly a drive.
- the user 5 receives not only real-time critical data from the user 1 but also real-time critical data from the users 2 , 3 and 4 , such as real-time critical peripheral images.
- the injection points in the respective users of all real-time critical data messages are usually planned or known in advance, e.g., German Application DE 100 58 524.8, incorporated herein by reference.
- each real-time critical data message may cause wait situations in each of the forwarding users 2 , 3 , 4 .
- each user 1 , 2 , 3 , 4 , 5 is provided with at least one buffer memory.
- FIG. 1 shows user 2 having a buffer memory 40 .
- the buffering of data messages in the buffer memories ensures that real-time critical data messages are not lost.
- Each of the buffer memories e.g., the buffer memory 40 of the user 2 , as depicted in FIG. 1 , requires a maximum free memory space in which all real-time critical data messages queued for forwarding can actually be buffered.
- this maximum required memory space can readily be calculated locally.
- this maximum required free memory space corresponds to the respective amount of data or data messages injected locally by the respective users.
- This calculation of the maximum required memory space is based on the worst-case assumption that all the locally injected data or data messages are transmitted first before the data messages queued for forwarding may be forwarded. This memory space must thus be reserved in advance in each of the users.
- a marking is set in the buffer memory of each user, e.g., in the buffer memory 40 of the user 2 .
- This marking corresponds to the existing low water mark required for the flow control.
- This so-called low water mark is a measure of the free memory space still available in the buffer memory of the respective user, e.g., the buffer memory 40 of the user 2 .
- the respective user e.g., user 2 accepts the incoming data message and forwards it according to its destination, or the respective user buffers the incoming message in the respective buffer memory before forwarding. If the available memory is below the low water mark, however, only real-time critical data messages are buffered in the buffer memory of the respective user. The only exception to this rule is data messages used for flow control. These data messages are likewise still accepted. All other data messages, on the other hand, particularly non-real-time critical data messages generated, for example, in spontaneous Internet traffic, are rejected or discarded.
- the set marking i.e., the low water mark
- the maximum free memory space required for an optional buffering of real-time critical data messages is always available. In other words, it is guaranteed that no real-time critical data message is lost due to memory space problems, which would otherwise lead to a significant fault in the communication system 38 .
- FIG. 2 shows a block diagram of a ring communication system 39 according to another exemplary embodiment of the present invention.
- the communication system 39 consists of the users 10 , 11 , 12 , 13 , 14 . These users 10 , 11 , 12 , 13 , and 14 are interconnected by network links 15 , 16 , 17 , 18 , and 19 .
- the network link 15 connects the user 10 with the user 11
- the network link 16 connects the user 11 with the user 12
- the network link 17 connects the user 12 with the user 13
- the network link 18 connects the user 13 with the user 14
- the network link 19 connects the user 14 with the user 10 , thereby forming a closed ring.
- each user 10 , 11 , 12 , 13 , and 14 has at least one buffer memory.
- the buffer memory 41 of the user 10 is depicted in FIG. 2 .
- the user 10 transmits real-time critical data to the user 13 .
- the user 10 may, for example, be a control computer, whereas the user 13 may be, for example, an automation device, particularly a drive.
- the rest of the users 11 , 12 , and 14 also send real-time critical data, e.g., real-time critical peripheral images, to the user 13 .
- real-time critical data e.g., real-time critical peripheral images
- FIG. 3 shows a block diagram illustrating the transmission cycle 31 and the principle of automatically determining the reserved time phase, i.e., the first segment 20 , using a timeout procedure.
- the communication cycle or transmission cycle 31 is divided into three segments, for example.
- the first segment 20 is designated for the transmission of real-time critical data messages and the additional segments 34 and 35 for the transmission of non-real-time critical data messages.
- the additional segment 34 comes chronologically before the first segment 20
- the additional segment 35 comes after the first segment 20 .
- the first segment 20 of the transmission cycle 31 which is designated for the transmission of data messages containing real-time critical data, is delimited by a chronological start 21 and an end 22 .
- the transmission cycle 31 is delimited by the chronological start 32 and the end 33 .
- the depicted transmission cycle 31 is chronologically divided such that an additional segment 34 for the transmission of non-real-time critical data messages, e.g., spontaneous Internet traffic, begins with the chronological start 32 of the transmission cycle 31 .
- the additional segment 34 of the transmission cycle 31 is followed by the first segment 20 with the chronological start 21 , which is reserved for the transmission of real-time critical data messages.
- the end 22 of the first segment 20 is in turn followed by the additional segment 35 in which non-real-time critical data messages, e.g., spontaneous Internet traffic, can again be transmitted.
- the chronological start 21 of the first segment 20 of a transmission cycle 31 is determined at least once, preferably at the beginning, for example, before the start of the first transmission cycle.
- Each user of the communication system guarantees that in each additional transmission cycle, this chronological start 21 occurs at the same instant within each current transmission cycle.
- the reserved time phase i.e., the first segment 20 of a transmission cycle 31 as depicted in FIG. 3 , occurs at the same instance in each transmission cycle in each user.
- each user ensures that the transmission of non-real-time critical data messages 36 and 37 , which are to be transmitted in the transmission cycle 31 in the additional segment 34 prior to the first segment 20 , is fully completed before the chronological start 21 of the first segment 20 of the transmission cycle 31 .
- the respective user thus checks whether the transmission of the non-real-time critical data message 37 , for example, can be fully completed before the chronological start 21 is reached.
- the respective user can readily calculate whether the non-real-time critical data message can by fully transmitted before the chronological start because the size of the respective data message 37 and the transmission rate of the respective user are known. If the transmission process can actually be completed before the chronological start 21 , the non-real-time critical data message 37 is still transmitted.
- this data message e.g., non-real-time critical data message 37
- this data message e.g., non-real-time critical data message 37
- This data message e.g., non-real-time critical data message 37 is buffered in a buffer memory of the respective user only if sufficient free memory space is available. Otherwise, the data message 37 would be rejected and/or discarded.
- the chronological start 21 of the first segment 20 can thus always start at a fixedly predetermined instant. Since the user monitors the data transfer of a preceding non-real-time critical data message 37 that is to be transmitted to ensure that it does not extend into the time phase of the first segment 20 , this chronological start 21 of the first segment 20 can actually be guaranteed. If the end 22 of the first segment 20 is reached, other non-real-time critical data messages 26 can be transmitted within the additional segment 35 until the end 33 of the transmission cycle 31 .
- the time length of the first segment 20 can be fixedly set, but is preferably also automatically adjustable using a timeout procedure, for example.
- a timeout period 27 depicted in FIG. 3 , starts to run.
- This timeout period may be implemented by a timer in the respective user or by some other software or hardware solution that is suitably coupled to the time characteristics of the transmission cycle.
- the duration of such a timeout period 27 can be parameterized and set.
- a real-time critical data message 23 is queued for transmission within the timeout period 27 , then this real-time critical data message 23 is transmitted, and at the end of the transmission process another timeout period 28 starts to run.
- the timeout period 28 preferably has the same time length as the timeout period 27 . If another real-time critical data message 24 is queued for transmission before the elapse of the timeout period 28 , then this data message is transmitted. The duration of the first segment 20 is thereby further extended.
- a timeout period 29 begins to run again, which, preferably, also has the same time length as the timeout periods 27 and 28 , respectively. If prior to the elapse of the timeout period 29 another real-time critical data message 25 is queued for transmission, this data message 25 is likewise transmitted and the first segment 20 of the transmission cycle 31 , i.e., the segment reserved for the transmission of real-time critical data messages, is further extended.
- a timeout period 30 begins to run again, which has the same time length as each of the timeout periods 27 , 28 and 29 .
- the first segment 20 is terminated with the end of the timeout period 30 , such that the end 22 of the first segment 20 coincides with the end of the timeout period 30 .
- the time length of the first segment 20 can thus be automatically adjusted. If other real-time critical data messages were queued for forwarding and/or transmission, the first segment would be extended further, and if necessary, until the end 33 of the transmission cycle 31 is reached. If the first segment 20 is extended until the end 33 of the transmission cycle 31 , no additional segment 35 is provided. Consequently, no further non-real-time critical data messages could be transmitted. On the other hand, if no real-time critical data messages, e.g., the real-time critical data message 23 , were queued for transmission within the timeout period 27 , the first segment 20 of the transmission cycle 31 would be terminated immediately. In other words, the first segment 20 would terminate with the end of the timeout period 27 . Consequently, the additional segment 35 for the transmission of non-real-time critical data messages would be extended.
- the real-time critical data messages e.g., the real-time critical data message 23
- the send and receive instants of the real-time critical data messages being forwarded are not planned in advance in the forwarding users, as would be mandatory in the related art IRT method. Only the injection instants of the real-time critical data messages, for example, data messages 23 , 24 , and 25 , into the communication system must be planned in advance.
- This illustrative method also works if all the send and receive instants of the real-time critical data messages are planned in advance in all the users involved in accordance with the IRT method. As described above, however, with this illustrative method planning in advance all the send and receive instants of the real-time critical data messages is not necessary.
- a method for transmitting data messages in a switched cyclical communication system is provided.
- the switched cyclical communication system may, for example, be a linear or ring arrangement of the users of the respective communication system 38 , 39 .
- real-time critical data messages are transmitted in a reserved first segment 20 of a transmission cycle 31 without the need for the send and receive instants to be planned in advance in the forwarding users.
- the chronological start 21 of the first segment 20 of a transmission cycle 31 is guaranteed by all users in all transmission cycles through monitoring.
- the duration of the first segment 20 of a transmission cycle 31 can, for example, be fixedly predefined or set.
- the first segment 20 of the transmission cycle 31 is automatically adjustable using, for example, a timeout procedure.
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PCT/DE2003/002980 WO2004030297A1 (de) | 2002-09-20 | 2003-09-08 | Verfahren zur übertragung von datentelegrammen in einem geschalteten, zyklischen kommunikationssystem |
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DE102005053103B4 (de) | 2005-11-04 | 2008-04-24 | Phoenix Contact Gmbh & Co. Kg | Verfahren sowie System zur Übertragung von zyklischen und azyklischen Daten |
EP3018958A1 (de) | 2014-11-04 | 2016-05-11 | Siemens Aktiengesellschaft | Netzwerkanordnung und Verfahren zur Priorisierung von Echtzeittelegrammen in einem konvergenten Netzwerk |
WO2017063016A1 (de) * | 2015-10-16 | 2017-04-20 | Fts Computertechnik Gmbh | Verfahren und computersystem zur schnellen übertragung von zeitgesteuerten echtzeitnachrichten |
EP3226484A1 (de) | 2016-03-31 | 2017-10-04 | Siemens Aktiengesellschaft | Verfahren zur datenübermittlung in einem kommunikationsnetz eines industriellen automatisierungssystems und kommunikationsgerät |
US10397010B2 (en) * | 2017-11-30 | 2019-08-27 | International Business Machines Corporation | Customized multicasting |
JP6570804B1 (ja) * | 2018-11-19 | 2019-09-04 | 三菱電機株式会社 | 通信システム、通信装置及びプログラム |
US12041134B1 (en) * | 2023-04-11 | 2024-07-16 | Bank Of America Corporation | System and method for replication and transmission of critical data using ultra reliable low latency communication network architecture |
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US9197576B2 (en) | 2010-11-15 | 2015-11-24 | Rockwell Automation Technologies, Inc. | Method and apparatus for allocating and prioritizing data transmission |
US20120236873A1 (en) * | 2011-03-15 | 2012-09-20 | Siemens Aktiengesellschaft | Method for real-time data transmission in a communication network |
US9100209B2 (en) * | 2011-03-15 | 2015-08-04 | Siemens Aktiengesellschaft | Method for real-time data transmission in a communication network |
Also Published As
Publication number | Publication date |
---|---|
DE10243850A1 (de) | 2004-04-01 |
EP1540905A1 (de) | 2005-06-15 |
DE50303865D1 (de) | 2006-07-27 |
EP1540905B1 (de) | 2006-06-14 |
ATE330404T1 (de) | 2006-07-15 |
WO2004030297A1 (de) | 2004-04-08 |
US20060018327A1 (en) | 2006-01-26 |
ES2266870T3 (es) | 2007-03-01 |
CN100466638C (zh) | 2009-03-04 |
CN1682504A (zh) | 2005-10-12 |
CA2499618A1 (en) | 2004-04-08 |
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